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#ifndef MIR_DWB_CRITICS_PATH_PROGRESS_H_
#define MIR_DWB_CRITICS_PATH_PROGRESS_H_

#include <dwb_critics/map_grid.h>
#include <vector>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>

namespace mir_dwb_critics {
/**
 * @class PathProgressCritic
 * @brief Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal.
 *
 * This trajectory critic helps ensure progress along the global path. It
 * calculates an intermediate goal that is as far as possible along the global
 * path as long as the path continues to move in one direction (+/-
 * angle_threshold).
 */
class PathProgressCritic : public dwb_critics::MapGridCritic {
 public:
  bool prepare(const geometry_msgs::Pose2D &pose,
               const nav_2d_msgs::Twist2D &vel,
               const geometry_msgs::Pose2D &goal,
               const nav_2d_msgs::Path2D &global_plan) override;

  void onInit() override;
  void reset() override;
  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;

 protected:
  bool getGoalPose(const geometry_msgs::Pose2D &robot_pose,
                   const nav_2d_msgs::Path2D &global_plan,
                   unsigned int &x,
                   unsigned int &y,
                   double &desired_angle);

  unsigned int getGoalIndex(const geometry_msgs::Pose2D &robot_pose,
                            const std::vector<geometry_msgs::Pose2D> &plan,
                            unsigned int start_index,
                            unsigned int last_valid_index) const;

  double xy_local_goal_tolerance_;
  double angle_threshold_;
  double heading_scale_;

  std::vector<geometry_msgs::Pose2D> reached_intermediate_goals_;
  double desired_angle_;
  ros::Publisher reached_intermediate_goals_pub_, current_goal_pub_, closet_robot_goal_pub_;
};

}  // namespace mir_dwb_critics
#endif  // MIR_DWB_CRITICS_PATH_PROGRESS_H_
